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Shareholder's Equity and Stock-Based Compensation - Summary of Stock-Based Compensation Expense Recognized in Statements of Operations Related to All Outstanding Stock Based Compensation Awards (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 5,007 | $ 5,794 | $ 15,351 | $ 15,819
Total Direct Costs |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 2,745 | 3,179 | 8,243 | 8,744
Selling, General and Administrative |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 2,262 | $ 2,615 | $ 7,108 | $ 7,075

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- Definition Amount of noncash expense for share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 45 -Paragraph 28 -Subparagraph (a) -SubTopic 10 -Topic 230 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482740/230-10-45-28 + Details
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